JP2018052182A - Electronic control system for vehicles - Google Patents

Abstract

An electronic control system for a vehicle capable of running a vehicle even when an abnormality occurs in an element control unit.
An electronic control system for a vehicle includes an element control unit that performs predetermined element control by controlling an operation of an actuator, and an independent unit that does not have a specific control target. The independent unit 3 is configured to be able to communicate with the element control unit 2, and the independent unit 3 performs at least a part of the process of the element control unit 2 when an abnormality occurs in the element control unit 2. Thus, the operation of the actuator β is controlled.
[Selection] Figure 1

Description

  The present invention relates to a vehicle electronic control system, and more particularly to a vehicle electronic control system having a plurality of element control units such as an engine electronic control unit.

  In recent years, vehicles such as automobiles have been digitized to improve fuel consumption, exhaust gas performance, safety, and the like, and various types of vehicles such as an engine electronic control unit and a transmission electronic control unit (also referred to as TCU) are included in the vehicle. The electronic control unit is installed. Hereinafter, an electronic control unit is abbreviated as ECU.

  The vehicle also has a stability control system to improve running stability, a device such as a body stabilizer to reduce or stabilize vehicle shake, or driving to prevent rear-end collisions and lane departures. A support system is also installed. In the following, each of the ECUs, systems, devices, etc. will be collectively referred to as an element control unit. These element control units are usually provided with various sensors for measuring information related to the control target controlled by the element control unit and actuators for causing the control target to perform necessary operations.

  Since these element control units need to perform control in cooperation with each other, they are connected to each other via a communication network. For example, information and the like are mutually connected based on a protocol such as CAN (Controller Area Network). In many cases, each element control unit is configured to perform each control in cooperation with each other while transmitting and receiving.

  For such a system, for example, Patent Documents 1 and 2 disclose the invention. That is, in Patent Document 1, several relay ECUs having a data relay function are provided between a plurality of different networks connecting the element control units, and manager ECUs connected to all networks are important. If an abnormality occurs in the data transmission path, the transmission path for important data is changed, and if there is a relay ECU whose processing load is temporarily increased, part of the data relayed by it A vehicular communication system that relays to a relay ECU is disclosed.

  In Patent Document 2, among ECUs connected to a network, for example, a travel mode ECU is a master control unit (host), other ECUs are slave control units, and a master control unit controls a plurality of slave controls. A vehicle control network system is disclosed in which basic information of system communication and control is transmitted and set to a unit, and control information is communicated between the control units to control the vehicle.

JP 2004-64626 A JP-A-1-164204

  By the way, in the vehicle electronic control system in which the element control units are connected to each other as described above, if an abnormality occurs in a certain element control unit, the actuator controlled by the element control unit may stop moving or operate abnormally. It may happen that If the actuator does not move or operates abnormally, there is a possibility that the engine, transmission, or the like to be controlled does not operate or operates abnormally.

  In such a case, it is necessary to urgently repair or replace the element control unit in which an abnormality has occurred. And repair and replacement of the element control unit can usually be done only by a dealer, but if the vehicle does not move or moves abnormally, it can not be moved to the dealer etc. And you have to move the vehicle tow.

  However, even in such a situation, if the vehicle can travel to a dealer or the like, the element control unit can be repaired or replaced immediately by the dealer or the like. In addition, since it is not necessary to move the vehicle tow truck, it is considered convenient for the driver.

  The present invention has been made in view of the above points, and an object of the present invention is to provide a vehicle electronic control system capable of running a vehicle even when an abnormality occurs in an element control unit.

In order to solve the above problem, the invention according to claim 1 is an electronic control system for a vehicle.
An element control unit that performs predetermined element control by controlling the operation of the actuator;
An independent unit without a specific control target,
With
It is configured to be able to communicate between the independent unit and the element control unit,
The vehicle independent control system, wherein the independent unit controls the operation of the actuator by performing at least a part of the processing of the element control unit when an abnormality occurs in the element control unit.

  The invention according to claim 2 is the electronic control system for a vehicle according to claim 1, wherein the independent unit and the element control unit are connected by a communication network.

According to a third aspect of the present invention, in the vehicle electronic control system according to the first or second aspect,
The element control unit includes a main CPU and a sub CPU,
The sub CPU is configured to perform preset control for operating the actuator of the element control unit in place of the main CPU as fail control when an abnormality occurs in the main CPU. ,
The independent unit calculates a control parameter necessary for operating the actuator in place of the main CPU of the element control unit when an abnormality occurs in the main CPU of the element control unit, and calculates the sub CPU The operation of the actuator is controlled in place of the main CPU of the element control unit by causing the sub CPU to perform the fail control for operating the actuator.

  According to a fourth aspect of the present invention, in the vehicular electronic control system according to the third aspect, when the sub CPU detects that an abnormality has occurred in the main CPU, the independent control unit includes the element control unit. The main CPU is notified that an abnormality has occurred.

  According to a fifth aspect of the present invention, in the vehicle electronic control system according to any one of the first to fourth aspects, element control by the element control unit is not normally performed in the independent unit. In this case, it is determined that an abnormality has occurred in the element control unit.

The invention according to claim 6 is the electronic control system for a vehicle according to any one of claims 1 to 5,
A plurality of the element control units are provided,
When the independent unit receives a notification from the element control unit that the other element control unit is abnormal, the independent unit determines that an abnormality has occurred in the other element control unit.

  According to the present invention, even when an abnormality occurs in the element control unit of the vehicle electronic control system, the vehicle can be driven.

It is a figure showing the structure of the electronic control system for vehicles which concerns on this invention. It is a block diagram showing the basic composition of an element control unit. (A) It is an image figure showing that abnormality generate | occur | produced in main CPU of a certain element control unit, (B) It is an image figure showing transmitting the control parameter proxy-calculated by the independent unit to the sub CPU of an element control unit. (A) It is a figure showing the unit which united the independent unit and each element control unit into one, (B) The figure showing transmitting a control parameter from the independent unit to the input / output circuit of the element control unit in which an abnormality has occurred It is.

  Embodiments of an electronic control system for a vehicle according to the present invention will be described below with reference to the drawings. In the following, a case where each element control unit is connected to a communication network will be described. However, the present invention is applied to a case where an independent unit (described later) and each element control unit are configured as one unit. Also applies.

[Configuration of Electronic Control System for Vehicle]
FIG. 1 is a diagram showing the configuration of a vehicle electronic control system according to the present invention. As shown in FIG. 1, in this embodiment, the vehicle electronic control system 1 includes a plurality of element control units 2 including an engine ECU (not shown) such as an engine ECU and a transmission ECT (TCU). (Each ECU, each system and device such as a stability control system, a driving support system, and a body stabilizer) are connected via a communication network N so as to be communicable. Other systems, devices, and the like may be connected to the communication network N.

  Each element control unit 2 can take various configurations, but is basically composed of a microcontroller. As shown in FIG. 2, a main CPU (Central Processing Unit) 21, a RAM (Random Access Memory) 22, a ROM A (Read Only Memory) 23, an input / output circuit (also referred to as I / O port) 24, etc. are connected to the bus 25, or are configured as a dedicated device. Have.

  In addition, each element control unit 2 is necessary for the control object in accordance with various sensors α for measuring information related to the control object controlled by itself (for example, an engine in the case of an engine ECU) and instructions of the element control unit 2. Actuators β for performing operations and the like are respectively connected. Each element control unit 2 outputs data (for example, engine speed, accelerator opening, vehicle speed, longitudinal acceleration, lateral acceleration, yaw rate, steering angle, brake pressure, etc.) measured by the sensor α to the communication network N. .

  Each element control unit 2 has a multidimensional control map, an arithmetic expression, and the like for calculating the control parameter p based on the data. When the main CPU 21 of the element control unit 2 measures data with the sensor α of the element control unit 2 or receives data via the communication network N, the main CPU 21 refers to the control map stored in the ROM 23 or stores the data. The control parameter p is calculated by substituting it into an arithmetic expression, and the actuator β is driven based on the calculated control parameter p.

  On the other hand, in the present embodiment, the element control unit 2 includes a sub CPU 26 in addition to the main CPU 21. That is, the element control unit 2 includes a sub control unit in which the sub CPU 26, the sub RAM 27, and the ROM 28 are connected to the bus 29. The sub CPU 26 is connected to the main CPU 21. The sub CPU 26 is configured to perform preset control for operating the actuator β of the element control unit 2 in place of the main CPU 21 as fail control when an abnormality occurs in the main CPU 21.

  The sub CPU 26 is connected to the input / output circuit 24 and can independently drive the actuator β. In this embodiment, the ROM 28 of the sub CPU 26 has a memory capacity larger than that of the ROM 23 of the main CPU 21. It is small and the control map is not saved. Therefore, the sub CPU 26 itself cannot perform advanced arithmetic processing such as calculating the control parameter p from the data with reference to the control map.

  Therefore, when the control parameter p necessary for operating the actuator β is transmitted from the independent unit 3 described later as the preset control in the fail control, the sub CPU 26 controls the operation of the actuator β based on the control parameter p. It is supposed to be. This point will be described in detail later. The case where the sub CPU 26 is not provided in the element control unit 2 will be described later.

  On the other hand, the vehicle electronic control system 1 is provided with an independent unit 3, and the independent unit 3 is connected to the communication network N in this embodiment. In the present embodiment, the independent unit 3 is constituted by a microcontroller, and although not shown, a CPU, a RAM, a ROM, an input / output circuit, and the like are connected to a bus. Note that it is not necessary to provide a sub CPU or the like in the independent unit 3.

  The independent unit 3 does not have a specific control target such as an engine or a transmission. Although FIG. 1 shows a case where no sensor or actuator is connected to the independent unit 3, at least some sensor may be connected.

  The vehicle electronic control system 1 is configured so that communication can be performed between the independent unit 3 and each element control unit 2 via the communication network N. The communication between the independent unit 3 and the element control unit 2 or between the element control units 2 is configured to be performed based on a protocol such as CAN, CANFD (CAN with Flexible Data rate), Ethernet (registered trademark), or the like. However, the present invention is not limited to the case where a specific protocol is used, and is applicable to the case where communication is performed based on any protocol.

  The independent unit 3 can receive data (such as the engine speed described above) measured by the sensor α of the element control unit 2 via the communication network N. The independent unit 3 has a ROM for calculating all the control maps and arithmetic expressions stored in the ROM 23 of each element control unit 2 or for calculating the control parameter p necessary for driving the vehicle. A map, an arithmetic expression, and the like are stored, and the independent unit 3 performs a process similar to the calculation process of the control parameter p performed by the main CPU 21 of each element control unit 2 and at least the control necessary for running the vehicle. The parameter p can be calculated.

  Then, when an abnormality occurs in a certain element control unit 2, the independent unit 3 performs the operation of the actuator β that is a control target of the element control unit 2 by performing at least a part of the process of the element control unit 2. It comes to control. Before describing this point, a method for the independent unit 3 to recognize that an abnormality has occurred in a certain element control unit 2 will be described with some examples.

  As one method, when the sub CPU 26 of the element control unit 2 monitors the operation of the main CPU 21 of the element control unit 2 and detects that an abnormality has occurred in the main CPU 21, The main CPU 21 of the control unit 2 can be configured to notify that an abnormality has occurred.

  As another method, the independent unit 3 monitors, for example, data output from each element control unit 2 to the communication network N, that is, whether data is output, whether the output data is abnormal, etc. When it is determined that the element control by the element control unit 2 is not normally performed, it is possible to determine that an abnormality has occurred in the element control unit 2.

  Furthermore, as another method, each element control unit 2 monitors the data output from the other element control unit 2 to the communication network N (that is, whether the data is output or is not abnormal). When the other element control unit 2 is determined to be abnormal, the independent unit 3 is configured to notify the independent unit 3 that the other element control unit 2 is abnormal. It is also possible to configure so that when an element control unit 2 receives a notification that another element control unit 2 is abnormal, it is determined that an abnormality has occurred in the other element control unit 2. .

  By configuring as described above, the independent unit 3 can accurately recognize that an abnormality has occurred in an element control unit 2 when an abnormality has occurred in a certain element control unit 2. Although any one of the above methods can be adopted, in order to accurately detect the abnormality of the element control unit 2, the detection by the above methods is performed in parallel, and either method is used. If the independent unit 3 is configured to determine that an abnormality has occurred in the element control unit 2 when an abnormality in the element control unit 2 is detected, the abnormality in the element control unit 2 can be detected more reliably. it can.

  On the other hand, when the independent unit 3 recognizes that an abnormality has occurred in the element control unit 2 as described above, the independent unit 3 performs at least a part of the process of the element control unit 2 to control the element control unit 2. The operation of the actuator β is controlled. Hereinafter, this point will be specifically described.

  In the present embodiment, when an abnormality occurs in the main CPU 21 of the element control unit 2, the independent unit 3 calculates a control parameter p necessary for operating the actuator β in place of the main CPU 21 and calculates the element control unit 2. By transmitting to the sub CPU 26 and causing the sub CPU 26 to perform the fail control for operating the actuator β, the independent unit 3 controls the operation of the actuator β in place of the main CPU 21 of the element control unit 2. Yes.

[Action]
Next, the operation of the vehicle electronic control system 1 according to this embodiment will be described.
When the CPU 31 of the independent unit 3 recognizes that an abnormality has occurred in the main CPU 21 due to a failure of the main CPU 21 of an element control unit 2 of the element control units 2 as shown in FIG. , Based on the same control map, arithmetic expression, etc. as the control map, arithmetic expression, etc. used in the element control unit 2, receiving necessary data such as the engine speed from the communication network N and stored in its own ROM Then, as shown in FIG. 3B, the control parameter p necessary for operating the actuator β of the element control unit 2 is subjected to a proxy calculation. Then, the calculated control parameter p is transmitted to the sub CPU 26 of the element control unit 2.

  When the sub CPU 26 of the element control unit 2 receives the control parameter p transmitted from the independent unit 3, the sub CPU 26 performs the above-described fail control, and controls the operation of the actuator β based on the received control parameter p. To work. 3A and 3B, descriptions of other element control units 2, and RAMs and ROMs of the independent units 3 and the element control units 2, sensors α, and the like are omitted.

  In this case, since the control parameter p necessary for driving the vehicle is transmitted from the independent unit 3, the sub CPU 26 of the element control unit 2 can output the output characteristics of the engine as in, for example, SI-DRIVE (registered trademark). Even if it is not possible to perform value-added control that changes the output from the normal output characteristics, it is possible to operate the actuator β appropriately without at least causing the actuator β to move or operate abnormally. It becomes possible to make the object perform the minimum operation and to make the vehicle travel reliably.

[effect]
As described above, according to the vehicle electronic control system 1 according to the present embodiment, when an abnormality occurs in a certain element control unit 2, the independent unit 3 performs necessary calculations on behalf of the necessary control parameters. p is calculated and transmitted to the sub CPU 26 of the element control unit 2, and the sub CPU 26 controls the operation of the actuator β based on the control parameter p received from the independent unit 3.

  In the vehicle electronic control system 1 according to the present embodiment, instead of the main CPU 21 of the element control unit 2 in which an abnormality has occurred, the independent unit 3 substitutes for the necessary control parameter p to perform the element control. When the operation of the actuator β is controlled by performing at least a part of the processing of the unit 2, the control target of the element control unit 2 can be appropriately operated, and an abnormality occurs in the element control unit 2 However, the vehicle can be reliably driven.

  Therefore, even when an abnormality occurs in an element control unit 2 in the vehicle electronic control system 1, the vehicle can be kept in a state where it can travel. The generated element control unit 2 can be repaired or replaced accurately. In addition, it is possible to accurately avoid the occurrence of a situation in which the failed vehicle stops moving and the tow truck movement becomes necessary.

  In the case where the element control unit 2 in which an abnormality has occurred is an element control unit 2 that directly affects the running of the vehicle, such as an engine ECU or a transmission ECU (TCU), the independent unit 3 controls the control parameters as described above. It is included in the element control unit 2 to be subjected to the proxy calculation of p. However, when the element control unit 2 in which an abnormality has occurred is a CPU for audio or car navigation, it does not directly affect the running of the vehicle. Therefore, it is not necessary to include these element control units 2 in the element control unit 2 to be subjected to the proxy calculation of the control parameter p by the independent unit 3.

  In addition, when the element control unit 2 in which an abnormality has occurred is an element control unit in charge of a stability control system, a driving support system, or the like, if an abnormality occurs in them, the vehicle travels abnormally and is dangerous to the driver or passenger May be covered. Therefore, in such a case, these element control units 2 can be included in the element control unit 2 to be subjected to the proxy calculation of the control parameter p by the independent unit 3.

[Modification]
By the way, when the sub CPU 26 is not provided in each element control unit 2, the independent unit 3 and a predetermined element control unit 2 (that is, the independent unit 3 needs to perform a proxy calculation of the control parameter p when an abnormality occurs). The actuator β that is the control target of the element control unit 2) is directly connected, and when an abnormality occurs in a certain element control unit 2, the independent unit 3 performs at least a part of the processing of the element control unit 2 It is possible to directly control the operation of the actuator β by doing so.

  However, in order to realize the above configuration, the independent unit 3 and each actuator β of each element control unit 2 must be connected, but each element control unit 2 is provided so as to be scattered in the vehicle. In the current situation, it is not always easy to realize. However, for example, when each element control unit 2 is configured as one unit in the future, it can be realized by providing the independent unit 3 in the unit.

  That is, when the unit 10 is a unit in which the independent unit 3 and each element control unit 2 are combined into one unit, for example, as shown in FIG. 4A, the independent unit 3 and each element control unit are included in the unit 10. 2 and the independent unit 3 and the input / output circuit 24 of each element control unit 2 are connected to each other. Note that the independent unit 3 may have an input / output circuit, and the actuator β may be connected to the independent unit 3. In FIGS. 4A and 4B, description of RAM, ROM, sensor α, and the like is omitted.

  Then, in a state where each element control unit 2 is functioning normally, the independent unit 3 monitors whether or not an abnormality has occurred in each element control unit 2 (note that the element control unit 2 has other elements). This includes the case where the independent unit 3 is notified that the other element control unit 2 is abnormal when an abnormality occurs in the control unit 2).

  When an abnormality occurs in an element control unit 2A as shown in FIG. 4B, the independent unit 3 calculates a control parameter p based on the data instead of the element control unit 2A, By transmitting to the input / output circuit 24 of the element control unit 2A, the independent unit 3 can be configured to directly control the actuator β.

  With this configuration, even when each element control unit 2 does not include a sub CPU, the independent unit 3 performs the operation of the actuator β by performing at least part of the processing of the element control unit 2 in which an abnormality has occurred. It becomes possible to control appropriately, and it becomes possible to exhibit the same beneficial effect as the above-described embodiment.

  Needless to say, the present invention is not limited to the above-described embodiments and modifications, and can be appropriately changed without departing from the gist of the present invention.

1 Electronic control system for vehicle 2 Element control unit 3 Independent unit 21 Main CPU
26 Sub CPU
N Communication network p Control parameter β Actuator

Claims (6)

An element control unit that performs predetermined element control by controlling the operation of the actuator;
An independent unit without a specific control target,
With
It is configured to be able to communicate between the independent unit and the element control unit,
The vehicle independent control system, wherein the independent unit controls the operation of the actuator by performing at least a part of the processing of the element control unit when an abnormality occurs in the element control unit.   The vehicular electronic control system according to claim 1, wherein the independent unit and the element control unit are connected via a communication network. The element control unit includes a main CPU and a sub CPU,
The sub CPU is configured to perform preset control for operating the actuator of the element control unit in place of the main CPU as fail control when an abnormality occurs in the main CPU. ,
The independent unit calculates a control parameter necessary for operating the actuator in place of the main CPU of the element control unit when an abnormality occurs in the main CPU of the element control unit, and calculates the sub CPU The operation of the actuator is controlled in place of the main CPU of the element control unit by causing the sub CPU to perform the fail control to operate the actuator by transmitting to the sub CPU. Item 3. The vehicle electronic control system according to Item 2.   4. The sub CPU, when detecting that an abnormality has occurred in the main CPU, notifies the independent unit that an abnormality has occurred in the main CPU of the element control unit. The electronic control system for vehicles as described.   The independent unit determines that an abnormality has occurred in the element control unit when element control by the element control unit is not normally performed. The vehicle electronic control system according to Item. A plurality of the element control units are provided,
The independent unit determines that an abnormality has occurred in the other element control unit when receiving a notification from the element control unit that the other element control unit is abnormal. The vehicle electronic control system according to any one of claims 1 to 5.

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